Related papers: Towards Active Excitation-Based Dynamic Inertia Id…
This paper discusses the design and the performance achievable with active aerodynamic attitude control in very low Earth orbit, i.e. below 450 km in altitude. A novel real-time algorithm is proposed for selecting the angles of deflection…
This paper presents an algorithm to geometrically characterize inertial parameter identifiability for an articulated robot. The geometric approach tests identifiability across the infinite space of configurations using only a finite set of…
The paper presents an improved mass balancing procedure for fast rotating machinery, while it is being rotated at speeds considerably slower than the "critical speeds", where dangerously high vibration amplitudes may arise. By utilizing…
High-energy, local multiplet excitations of the d-electrons are revealed in our inelastic neutron scattering measurements on the prototype magnetic insulator NiO. These become allowed by the presence of both non-zero crystal field and…
Oil starvation is a critical fault in hydrodynamic bearings caused by insufficient oil supply flowrate. When late detected, this fault can deteriorate the bearings' performance and damage the rotating machine. Thus, early fault…
We compare the moment of inertia (MOI) of a simple hydrostatic, two layer body as determined by the Radau-Darwin Approximation (RDA) to its exact hydrostatic MOI calculated to first order in the parameter q = w^2R^3/GM, where w, R, and M…
Accurate and robust extrinsic calibration is necessary for deploying autonomous systems which need multiple sensors for perception. In this paper, we present a robust system for real-time extrinsic calibration of multiple lidars in vehicle…
Accurate information of inertial parameters is critical to motion planning and control of space robots. Before the launch, only a rudimentary estimate of the inertial parameters is available from experiments and computer-aided design (CAD)…
Inertia Axes are involved in many techniques for image content measurement when involving information obtained from lines, angles, centroids... etc. We investigate, here, the estimation of the main axis of inertia of an object in the image.…
In this paper, a robust control solution for a satellite equipped with a robotic manipulator is presented. First, the dynamic model of the system is derived based on quaternions to describe the evolution of the attitude of the base…
The impact of formation flying on interferometry is growing over the years for the potential performance it could offer. However, it is still an open field, and many studies are still required. This article presents the basic principles…
The nonlinear space-charge effects in a high intensity or high brightness accelerator can have a significant impact on the beam properties through the accelerator. These effects are included in the accelerator design via self-consistent…
Attitude estimation is crucial in aerospace engineering, robotics, and virtual reality applications, but faces difficulties due to nonlinear system dynamics and sensor limitations. This paper addresses the challenge of attitude estimation…
Satellite networks with dense low Earth orbit (LEO) constellations rely on aggressive spectrum reuse, making co-channel interference a dominant and rapidly varying factor that limits link availability and complicates spectrum sharing and…
This work presents a technique to estimate on-line the inertia of a power system based on ambient measurements. The proposed technique utilizes the covariance matrix of these measurements and solves an optimization problem that fits such…
We present a novel method for optimizing the posture of kinematically redundant torque-controlled robots to improve robustness during impacts. A rigid impact model is used as the basis for a configuration-dependent metric that quantifies…
Rapidly oscillating Ap stars are unique objects in the potential they offer to study the interplay between a number of important physical phenomena, in particular, pulsations, magnetic fields, diffusion, and convection. Nevertheless, the…
The main contribution of this paper is a high frequency, low-complexity, on-board visual-inertial odometry system for quadrotor micro air vehicles. The system consists of an extended Kalman filter (EKF) based state estimation algorithm that…
This paper presents a novel method for attitude estimation of an object in 3D space by incremental learning of the Long-Short Term Memory (LSTM) network. Gyroscope, accelerometer, and magnetometer are few widely used sensors in attitude…
We propose a systematic method to directly identify a sensor fault estimation filter from plant input/output data collected under fault-free condition. This problem is challenging, especially when omitting the step of building an explicit…